/******************************************************************************
 * Copyright 2019 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
#pragma once
#include <vector>
#include "modules/perception/tool/benchmark/lidar/util/object.h"

namespace apollo {
namespace perception {
namespace benchmark {

// get 8 vertices of the 3D bounding box
bool get_bbox_vertices(const ObjectConstPtr object,
                       std::vector<Eigen::Vector3d>* vertices);

// fill cloud and indices, using center, width/length/height
bool fill_objects_with_point_cloud(std::vector<ObjectPtr>* objects,
                                   const PointCloudConstPtr cloud);

bool fill_axis_align_box(ObjectPtr object);

}  // namespace benchmark
}  // namespace perception
}  // namespace apollo
